Improving the Navigation System of Underground Pipe Defect Detection Device

Abstract

This article addresses the issue of noise and drift in microelectromechanical gyroscopes and their impact on measurement accuracy in engineering applications. The use of a complementary filter is proposed to combine information from the accelerometer and gyroscope to reduce inaccuracies. Research shows that the accelerometer has better result repeatability, which is important for obtaining stable measurements. At the same time, the gyroscope may be more effective in measuring translational movements. The selection of sensor sensitivities and proper parameter tuning are crucial aspects. A developed system is capable of effectively filtering and measuring the angle of an object, and the use of a complementary filter improves measurement accuracy. The proposed approach can be successfully utilized for accurately detecting the angle of position of a measurement setup in defect inspection of underground pipelines.